Automatic guided sewing apparatus



Sept. 26, 1961 J BOND ETAL AUTOMATIC GUIDED SEWING APPARATUS 3 Sheets-Sheet 1 Filed Feb. 17, 1958 JOSEPH N. BOND JOHN H. BACHMANN 3% mm M LAWYER Sept. 26, 1961 J. N. BOND ET AL 3,001,489

AUTOMATIC GUIDED SEWING APPARATUS Filed Feb. 17, 1958 s Sheets-Sheet 2 FORWARD SOLENOID DETENT SOLENOID ANGULARITY MOTOR CLUTCH SOLENOID REVERSING SOLENOID FIG. 3

DRIVE UNIT MOTOR SEWING MACHINE MOTOR JOSEPH N. BOND JOHN H. BACHMANN Malia LAWYER Sept. 26, 1961 J. N. BOND ETAL AUTOMATIC GUIDED SEWING APPARATUS 3 Sheets-Sheet 3 FIG. 4

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s R m 0 MN v w W. N H P E s 0 IV JOHN H. BACHMANN jM L WYAER United States Patent AUTOMATIC GUIDED SEWING APPARATUS Joseph N. Bond, Mineola, N .Y., and John H. Bachmann,

Baltunore, Md., assignors, by mesne assignments, to

Western Coat Pad Company, Baltimore, Md., 2! corporation of Maryland Filed Feb. 17, 1958, Ser. No. 722,113 Claims. (Cl. 112-2) This invention relates generally to templet guided mechanisms, and more particularly it pertains to automaticsguided sewing apparatus for sewing complex patterns of lines in cloth or a number of pieces of cloth.

Although this invention is illustrated in conjunction with apparatus for sewing complex patterns of lines in cloth, it is not limited thereto as it can most readily be adapted for welding of metal or plastic sheets by the substitution of a pair of rollers with the sheets interpaced in conjunction therebetween with a high frequency source of energy in place of the conventional needle arrange ment.

In the sewing art and particularly in the sewing industry, it has become necessary to speed up the various operations. of stitching together cloth in the fabrication of clothing and the like. Also, in the repetitive manufacture. of like objects of cloth material, the assembly stitches for appearance and strength should desirably follow the same pattern from piece to piece.

The sewing pattern, after being satisfactorily determined, is sometimes complex and diflicult of reproduction by the operator. A good example of this type of sewing is the stitching together of several layers of the same or different material into coat pads. Preferably it is required that a series of parallel lines of stitching be made to hold the material from bunching or gatheringnon-uniformly in use. It is also desirable, due to pulling strains and contour fitting, that these lines of stitching change their parallelism such as in instances where the coat pad passes under the armpit or over the shoulder of the wearer in articles of clothing. Sometimes it is desirable to overstitch for special reinforcement in the form of parallel lines of stitching, overlaying other parallel lines of stitching one or more times. Accordingly, it is an object of this invention to provide a ma'chine for sewing a complex pattern on cloth or a number of pieces of cloth onjthe same or different rnfaterial. i i

Another object of this invention is to provide a machine for sewing a continuous pattern of stitching consisting of substantially parallel lines joined at alternate ends by a smooth curve.

Still another object of this invention is toprovide a machine for sewing a pattern of stitching in a substantially parallel series of lines continuing into a secon d parallel series of lines at a difierent angle to the first series of lines. a

Even still another object of this invention is to provide a machine for sewing a complex pattern of stitching which mayconsist of'a series of lines, some of which are parallel and some of which are arranged at different angles thereto.

And yet another object of this invention is to provide a sewing machine apparatus for stitching a series of lines substantially parallel and follow up with another series of parallel lines at a'n'an'gle to the first series of lines and extending over the first series of lines in whole or in part.

And another object of this invention is to provide a machine for sewing a repetitive series of lines, one after the other, in continuous sequence, wherein parallelism changes in one or several steps as the sewing progresses.

These and other objects and advantages of this invention will become readily apparent and understood from the accompanying specifications and drawings:

FIGURE 1 is a perspective view, partially in schematic, I

of an automatic guided sewing apparatus comprising this invention;

FIGURE 2 is a continuation of the perspective view of FIGURE 1, illustrating the driving mechanism for said sewing apparatus;

FIGURE 3 is a schematic of the electrical circuiting for said automatic-guided sewing apparatus; and

FIGURES 4 to 8 illustrate schematics of stitching patterns obtained by utilizing the automatic-guided sewing apparatus; and

FIGURE 9 is a perspective view of a detail of FIG- URE 1 showing a plurality of layers of cloth in an opera tive position.

In accordance with the invention, an automatic sewing apparatus is provided for sewing a number of pieces of cloth of the same, or dilferent material in accordance with a complex pattern. This complex pattern may consist of a series of lines, all of which are parallel, or a series of lines, some or all of which are at different angles to the longitudinal axis of the material. The invention, however, is not limited to sewing cloth as it can be readily adapted for welding of metal or plastic sheet. This can be achieved by using a pair of rollers with the sheets interspaced in conjunction with a high frequency energy source electrically associated therewith.

The apparatus comprises means for introducing pieces of cloth into a holding means, and means for holding the pieces of cloth in a fixed position. In addition, a sewing means with a free floating foot is provided as a part of the apparatus, with said foot having a convexed shape. Further, means are provided for actuating the sewing means; means for establishing a complex pattern; means for following the pattern; means for changing the angle of sewing with respect to the longitudinal axis of the pieces of cloth; means for stopping the sewing means; means for cutting the thread; means for removing the sewn pattern, and means for returning the pattern following means to itsoriginal position.

Referring now to FIGURES 1 and 2 ot the drawings, there is shown an automatic apparatus for sewing a complex pattern on a number of pieces 192, 194, and 106 of cloth, as shown in FIGURE 9. A holding tray is provided on a table 103. This tray 100 consists of a U-shaped framework 101 and a flat plate 102 having a slot 190 provided therein. A holding fixture 104 is secured to one end of holding tray 100 for holding the pieces of cloth to be stitched. In addition, a plurality of holding pins 106 or the equivalent are provided for holding the layers or pieces 192, *194 and 196 of cloth being stitched, in operating position. The cloth can be introduced into the holding tray 100 by a series of vacuum pick-ups or adhesive, pre-set to deliver pieces of cloth, such as 192, 194 and 196, in sequence, in a fixed position.

Above the tray 100 and located on table 103, there is provided a conventional sewing head 1081, which has a free floating foot 110. This floating foot-110 is preferably convex in shape. The sewing head 108 and related parts are actuated by a conventional electric current motor 164, through a simple switch 112.

.As seen best in FIGURE 1, a sewing templet 114 is provided which consists of a flat sheet 116 of material, with the desired pattern 118 being engraved therein. The pattern 118 is continuous with itself. The pattern 118 on templet 114, as indicated, is placed upon a flat plate or sheet 116. This templet 114, therefore, defines the desired sewing pattern 118 and provides a path for the return of theapparatus to its original position.

A means for following. the pattern 118 is provideda'ud it consists of a free-moving platform 120. This platform 120 is arranged to ride on a set of rails 122, which, in turn, ride at right angles on another set of rails 124. Therails 124, are parallel to the longtudinal axis of the template 114. Th rails 122 are .slidably attached at each ends thereof to rails 124by ball hearings or bushing blocks 126 or by grooved wheels or the like. In addition, ball bearings orbushing blocks 128 can be provided for rails 122, as shown in FIGURE 1.

The platform 120 .can be moved in either a longitudinal or lateral direction by sliding or rolling over the rails 124 or 122 respectively. The direction of movement laterally is established by forward and reverse cams 132 and 130, respectively, which are mounted 180 apart on a common shaft 134. This shaft 134, in turn, is fastened to a stylus 136. The forward earn 132 engages a forward microswitch 140 while the reverse cam 130 engages areverse microswitch 138. Switches 141) and 138 are electrically connected to forward and reversing operating solenoids 144 and 142, respectively, which are actuating members of a reversible motor-driven transmission 146, as shown in FIGURES 2 and 3.

The driving force from the motor-driven transmission 146 is used to rotate a pinion 150 and propel a rack 1-48.,which move the free rails 122 to the right and left carrying blocks 128 and the platform 1.20 with them. A force represented by tension spring 152 or equivalent is provided between block 126 and platform 120 to pull the platform along rails 122 in a lateral direction with respect to templet 116.

The pattern 118 on templet 1 16 is arranged so that at each end of its excursion, the pattern passes through 180 turns. As the stylus 136 follows the pattern 118 at each end, the cam shaft 134 is revolved, so that the opposite cam is engaged and the new directional sense is imparted to the reversible motor-driven transmission 146 through electrical connections as determined by forward or re versing microswitches 140 and 138. The platform 120 then continues to follow the templet pattern 118 in the new longitudinal direction. The previously mentioned tension spring 152 provides the forcefor the lateral vector of motion required by the pattern 118.

The holding tray-100 is attached to the free moving platform 120 by a frame angularity shaft 154 and bracket 156. A force represented by coil spring 158A or equivalent, holds shaft 154 in rotary tension. The position of frame angularity shaft 154 is defined by a frame angularity earn 158 and spring-loaded detent 160. The detent 160 is operated by frame angularity solenoid 162 as shown in FIGURES 1 and 3 and permits the cocked angularity shaft 154 to rotate to a new position carrying the holding tray 100 to a new angle of sewing with respect to the longitudinal axis of the piece or pieces 192, 194 and 1960f cloth.

Referring now to FIGURE 3 of the drawings, there is illustrated a main switch 168 which energizes both the sewing motor 164 and drive motor 166 from the electric power mains. The start switch 168, when momentarily pressed, closes a holding relay 170 whose contacts 172 are connected in well-known lock-in fashion to hold the relay energized after start button 168 is released.

A drive or motor clutch solenoid 174, as shown in FIGURES. 2 and 3, is connected in parallel with the coil of the holding coil 170. This clutch solenoid 174, by means of clutch 176, engages drive motor 166 to a pair of counter-rotating friction wheels 178 and 180, as shown in FIGURE 2, which are part of the reversing transmission 146. Also connected in parallel are the two forward and reversing solenoids 144 and 142, respectively, each in series circuit with stylus cam switches 140 and 138, respectively.

Directional sense is derived from the rotation of the two finger, or equivalent, stylus 136-, which by means of the cams 130 and 132 allow the proper switch, either cam microswitch-138- or 140 to energize the reverse or for- 4 ward solenoids 142 or 144 as required. These solenoids 142 or 144 serve to engage the platform rack-and-pinion drive and 148, with one of the friction drive wheels 178 or 180 of the reversing transmission 146 thus putting the platform 120 in motion in a direction parallel to the longitudinal axis of the templet.

A frame angularity microswitch 180, as shown in FIG- URES l and 3, is provided at a desired point along the path of the templet 116. When microswiteh 180 is tripped by the travel of the stylus 136, corresponding to a selected spot in the sewing pattern, angular solenoid 162 is actuated to withdraw the spring-loaded detent from the angularity cam 158, thus permitting the cocked frame angularity shaft 154 to rotate to a new position.

At the end of the path of the pattern 118 in templet 116 or some other desired point, a stop microswitch 1812 is provided to open the circuit to the coil of the holding relay and all parallel circuits including the motor clutch solenoid 174. The drive motor 166 is thus disengaged and ceases to drive the platform 120.

A manual detent release push button 186, as shown in FIGURE 3, is provided to enable the operator to manual- 1y cock the frame angularity cam 158, against the tension of spring 158A, thus restoring the start position of the apparatus. The operator is also required to push the frame in a lateral direction against the tension of spring 152 to thus restore the stylus 136, platform 120, and holding tray 100 to the starting or original position.

In FIGURES 5 to 8, there are schematically illustrated various types of patterns which can be obtained by controlling the angularity of the frame. 7

As previously mentioned earlier in this patent application, the apparatus described can be modified or'adapted for Welding metal or plastic sheet by the substitution of a pair of rollers, having the metal or plastic sheet spaced therebetween, and a source of high frequency energy eing electrically coupled thereto and other minor modifications of the apparatus.

In addition to the above, suitable'means can be provided for cutting the thread utilized in the stitching process, such as a cam actuated by a knife; also other means including an air cylinder can be utilized for returing the pattern following means, that is, the free moving platform 120 and the stylus 136 to their original or initial operating positions. 7

It will be apparent to one skilled in the artrthat the apparatus as described can be modified in a numberof different ways. For example, the frame angularity cam 158 can be equipped with a plurality of cam slots to correspond with additional frame angles as signaled by additional frame angularity microswitches 50' that many different complex patternsv can be sewn. Other similar changes can be made, and, as pointed out above, the apparatus can be equipped with means for feeding the layers of cloth to the machine; means for cutting the thread at the end of the operation as wellas means for returning the holding tray 100 to its initial position.

While but one construction of the invention has been illustrated in the drawings and described herein, it is not intended to limit the design and manufacture of the automatic guided sewing apparatus to such particular form, as it is appreciated that other structures could be designed and made that would use the same principles and come within the scope of the appended claims.

What is claimed is:

1. An apparatus for joining together a plurality of layers of material, comprising, means including a visually unobstructed work holder for holding layers of material in a lamilar relationship to be joined together along a joining path, a flat templet spaced from said work holder for establishing a continuous complex pattern having at least one excursion by which said layers of material can be joined together and by which saidapparatus can be returned to its original starting position, with said pattern of said templet being a projected image of the joiningpath and located in a plane parallel with the layers of material being joined together, a framework arranged substantially parallel to said work holder and templet and spaced therefrom, said work holder having a spindle extending transversely therefrom and rotatably mounted in said framework for changing the direction of the principal axes of said work holder with respect to said framework, a stylus rotatably mounted on said framework for engaging and following said continuous complex pattern on said templet; means for moving said work holder with its layers of materials and framework longitudinally as Well as laterally so said stylus can follow said pattern on said templet, means fixed with respect to said templet for automatically joining said layers of material together in a continuous pattern corresponding to said continuous pattern followed by said stylus on said templet, and means for reversing said moving means for said work holder at the end of an excursion of said pattern.

2. An automatic apparatus for sewing together a plurality of layers of material, comprising, means including a horizontally mounted visually unobstructed work holder for holding layers of material in a face to face position to be sewed together along a sewing path, a flat templet spaced from said work holder for establishing a continuous complex pattern having at least one excursion by which said layers of material can be sewed together and by which said apparatus can be returned to its original starting position, with said pattern of said templet being a projected image of the sewing path and located in a plane parallel with the layers of material being sewed together, a framework arranged substantially parallel to said work holder and templet and spaced therefrom, said work holder having a spindle extending downwardly therefrom and rotatably mounted in said framework for changing the direction of the principal axes of said Work holder with respect to said framework, means for holding said spindle in torsion, a stylus rotatably mounted on said framework for following said continuous complex pattern on said templet, means for moving said work holder and framework longitudinally as well as transversely in a horizontal plane so said stylus can follow said pattern on said templet, means including a sewing head operatively connected with said stylus for sewing said layers of material together in a continuous pattern corresponding to said continuous pattern on said templet, and means for reversing said moving means for said workholder at the end of an excursion of said pattern.

3. An automatic apparatus for joining together a plurality of layers of material, comprising, means including a tray formed of a first framework horizontally mounted and having a fiat plate at its under side with a slot provided therein, said plate having a plurality of upwardly extending spaced members for holding said layers or material in a fixed position to be joined together, a flat templet spaced substantially parallel to said first framework and having a continuous complex pattern thereon with excursions, means for reversing said moving means for said second framework at the end of an excursion of said pattern, said pattern on said templet being arranged so that at each end of its excursion, said pattern passes through 180 turns, a second framework arranged substantially parallel to said first framework and templet and spaced intermediately thereof for following said pattern on said templet, means for moving said second frame work longitudinally as well as transversely so as to follow said pattern on said templet, with said pattern of said templet being a projected image of the joining path and located in a plane parallel with the layers of material being joined together, a stylus rotatably mounted on said second framework and arranged to engage and continuously follow said pattern on said templet, and means operatively connected with said stylus for joining said pieces of material together through said slot provided in said plate of said tray in a pattern corresponding to said continuous complex pattern on said templet.

4. An automa'tic'apparatus for joining together a plu= rality of pieces of material, comprising, means including a visually unobstructed tray horizontally mounted and having a flat plate at its under side with a slot provided therein, said plate having a plurality of upwardly extending spaced members for holding pieces of material in a fixed position to be joined together, a templet spaced substantially parallel to said tray and having a continuous complex pattern thereon with excursions, with said pattern of said templet being a projected image of the joining path and located in a plane parallel with the layers of material being joined together, said pattern on said templet being arranged so that at each end of its excursion, said pattern passes through turns, a framework mechanically connected to said tray and arranged substantially parallel to said templet and tray and located intermediately thereof, means including a stylus rotatably mounted on said framework for following said pattern on said templet, means for moving said framework and tray longitudinally as well as transversely so as to follow said pattern on said templet, means for reversing said moving means at the end of an excursion of said pattern, and joining means fixed with respect to said templet for joining said pieces of material together through said slot provided in said plate of said tray in a pattern corresponding to said continuous complex pattern on said templet.

5. An automatic apparatus for sewing together a plurality of layers of material, comprising, means including a horizontally mounted and visually unobstructed work holder for holding layers of material in a face to face position to be sewed together along a sewing path, a fiat templet spaced from said work holder for establishing a continuous complex pattern having a plurality of excursions by which said layers of material can be sewed together and by which said apparatus can be returned to its original starting position, with said pattern of said templet being a projected image of the sewing path and located in a plane parallel with said layers of material being sewed together, a framework arranged substantially parallel to said work holder and templet and spaced intermediately thereof, said work holder having an integral spindle extending downwardly therefrom and rotatably mounted in said framework for changing the direction of the principal axes of said work holder with respect to said framework, means for holding said spindle in torsion, a stylus rotatably mounted on said framework for engaging and following said continuous complex pattern on said templet, means for moving said work holder with its layers of material and framework longitudinally as well as transversely with respect to the principal axes of said work holder so said stylus can follow said pattern on said templet, means for reversing said moving means at the end of an excursion of said pattern and automatic sewing means fixed with respect to said templet for sewing said layers of material together in a continuous pattern corresponding to said continuous pattern followed by said stylus on said templet.

6. An automatic apparatus as recited in claim 5, wherein said automatic sewing means for sewing said layers of material together includes a sewing machine having a free floating foot.

7. An automatic apparatus as recited in claim 6, and additionally means for holding said layers of material to be sewed together in a fixed position in said work holder for sewing together thereof.

8. An automatic apparatus as recited in claim 7, and additionally means for actuating said sewing machine.

9. An automatic apparatus as recited in claim 8, and additionally means for stopping said sewing machine.

10. An automatic apparatus as recited in claim 5, and additionally means for returning said stylus to its original starting position after the sewing operation is completed.

(References on following page) References Cited in the file of :this patent UNITED STATES PATENTS Rothchild Apr. 4, 1939 8 Boettch'er Mar.r25,, 1941 .Tillett Dec. 2, .1941 Kramer et a]. Sept; 9, 1952 Bihaly July '27, 1954 Carson et a1. J1me 3', 1958 Knieriemen et a1 .5 Oct. 28, 1958 Abel Dec. 9, 1958 

